version: 66.06
glider: 148
mission: 12
dive: 323
start: 8 1 113 2 22 58
data:
$ID,148
$MISSION,12
$DIVE,323
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1022517.9
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,93
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,021430,2317.531,-15739.991,39,2.0,39,10.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-72.2
$GPS2,022206,2317.573,-15739.970,13,1.6,18,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK7
$TGT_LATLONG,2321.000,-15753.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.043
$KALMAN_X,-152827.3,71.3,-89.5,187154.7,1213.2
$KALMAN_Y,154409.6,-16.0,33.1,-94081.0,161.5
$MHEAD_RNG_PITCHd_Wd,269.3,23864,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.22,0.000,2,0.000,0.000,413,1586,2918,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.3,9,122,14.75,2.42,-8.60,0.000,4,0.171,0.030,3102,3105,3397,0,0,0,0,0,0
$GC,266,-1.08,-146.0,43.1,-17.0,31,272,0.20,2.53,0.00,0.000,6,0.099,0.031,3146,1562,3398,0,0,0,0,0,0
$GC,535,-0.91,-146.0,84.1,-14.2,55,540,0.17,0.00,0.00,0.000,6,0.101,0.000,3184,1562,3399,0,0,0,0,0,0
$GC,799,-0.85,-146.0,114.9,-11.6,80,803,0.00,2.28,0.00,0.000,4,0.000,0.043,3185,161,3399,0,0,0,0,0,0
$GC,821,-0.78,-146.0,118.1,-12.3,81,827,0.12,2.10,0.00,0.000,6,0.107,0.017,3213,1578,3399,0,0,0,0,0,0
$GC,1084,-0.78,-146.0,141.9,-8.8,106,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1581,3399,0,0,0,0,0,0
$GC,1344,-0.82,-146.0,165.9,-9.6,130,1348,0.00,2.38,0.00,0.000,4,0.000,0.021,3213,3109,3400,0,0,0,0,0,0
$GC,1389,-0.97,-146.0,170.4,-8.3,134,1395,0.17,2.50,0.00,0.000,6,0.048,0.028,3126,1560,3400,0,0,0,0,0,0
$GC,1665,-0.80,-146.0,205.7,-13.4,156,1670,0.35,2.25,0.00,0.000,4,0.081,0.041,3207,175,3400,0,0,0,0,0,0
$GC,1694,-0.80,-146.0,210.1,-10.9,156,1698,0.00,2.08,0.00,0.000,6,0.000,0.017,3207,1568,3400,0,0,0,0,0,0
$GC,1951,-0.87,-146.0,231.9,-8.6,163,1955,0.00,2.42,0.00,0.000,4,0.000,0.021,3207,3116,3400,0,0,0,0,0,0
$GC,1984,-1.02,-146.0,234.7,-8.2,163,1989,0.17,2.47,0.00,0.000,6,0.051,0.028,3120,1572,3400,0,0,0,0,0,0
$GC,2235,-0.89,-146.0,263.7,-12.1,169,2240,0.28,2.28,0.00,0.000,4,0.083,0.042,3186,173,3400,0,0,0,0,0,0
$GC,2270,-0.89,-146.0,267.5,-9.7,169,2274,0.00,2.12,0.00,0.000,6,0.000,0.018,3186,1567,3400,0,0,0,0,0,0
$GC,2521,-0.94,-146.0,287.0,-7.7,175,2525,0.00,2.50,0.00,0.000,4,0.000,0.025,3186,3131,3400,0,0,0,0,0,0
$GC,2554,-1.07,-146.0,289.9,-8.4,175,2559,0.15,2.50,0.00,0.000,6,0.056,0.029,3121,1577,3400,0,0,0,0,0,0
$GC,2809,-0.98,-146.0,318.4,-11.5,181,2814,0.22,2.35,0.00,0.000,4,0.084,0.048,3173,166,3399,0,0,0,0,0,0
$GC,2857,-1.04,-146.0,323.9,-9.8,182,2862,0.00,2.12,0.00,0.000,6,0.000,0.020,3173,1555,3400,0,0,0,0,0,0
$GC,3142,-1.04,-146.0,345.5,-7.4,189,3146,0.00,2.53,0.00,0.000,4,0.000,0.029,3173,3143,3398,0,0,0,0,0,0
$GC,3180,-1.17,-146.0,348.8,-7.6,189,3186,0.17,2.58,0.00,0.000,6,0.047,0.035,3090,1572,3398,0,0,0,0,0,0
$GC,3437,-1.03,-146.0,381.2,-13.4,196,3442,0.28,2.35,0.00,0.000,4,0.085,0.056,3155,168,3396,0,0,0,0,0,0
$GC,3507,-1.03,-146.0,390.4,-10.2,197,3511,0.00,2.15,0.00,0.000,6,0.000,0.022,3155,1559,3396,0,0,0,0,0,0
$GC,3766,-1.03,-146.0,415.6,-9.8,204,3771,0.00,2.55,0.00,0.000,4,0.000,0.035,3155,3135,3394,0,0,0,0,0,0
$GC,3787,-1.03,-146.0,417.4,-9.7,204,3792,0.00,2.60,0.00,0.000,6,0.000,0.036,3155,1567,3395,0,0,0,0,0,0
$GC,4056,-1.03,-146.0,439.8,-8.4,211,4061,0.00,2.58,0.00,0.000,4,0.000,0.038,3155,3140,3392,0,0,0,0,0,0
$GC,4085,-1.08,-146.0,442.6,-8.0,211,4090,0.00,2.60,0.00,0.000,6,0.000,0.039,3155,1569,3391,0,0,0,0,0,0
$GC,4342,-1.08,-146.0,462.2,-7.4,218,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3390,0,0,0,0,0,0
$GC,4584,-1.08,-146.0,479.9,-7.2,224,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3388,0,0,0,0,0,0
$GC,4827,-1.08,-146.0,496.7,-6.8,230,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3387,0,0,0,0,0,0
$GC,5073,-1.08,-146.0,514.4,-7.4,236,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3385,0,0,0,0,0,0
$GC,5317,-1.08,-146.0,532.9,-7.6,242,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1569,3384,0,0,0,0,0,0
$GC,5559,-1.08,-146.0,550.5,-7.2,248,5563,0.00,2.65,0.00,0.000,4,0.000,0.046,3155,3137,3382,0,0,0,0,0,0
$GC,5583,-1.15,-146.0,552.2,-7.8,248,5588,0.00,2.62,0.00,0.000,6,0.000,0.042,3155,1577,3382,0,0,0,0,0,0
$GC,5845,-1.15,-146.0,570.6,-7.1,255,5849,0.00,2.47,0.00,0.000,4,0.000,0.076,3156,166,3380,0,0,0,0,0,0
$GC,5877,-1.15,-146.0,573.4,-7.8,255,5882,0.00,2.25,0.00,0.000,6,0.000,0.030,3155,1559,3380,0,0,0,0,0,0
$GC,6130,-1.20,-146.0,591.9,-7.6,261,6136,0.12,2.65,0.00,0.000,4,0.064,0.046,3097,3152,3378,0,0,0,0,0,0
$GC,6152,-1.20,-146.0,594.0,-9.1,261,6157,0.12,2.65,0.00,0.000,6,0.101,0.045,3126,1581,3378,0,0,0,0,0,0
$GC,6417,-1.20,-146.0,617.1,-8.5,268,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1580,3376,0,0,0,0,0,0
$GC,6661,-1.20,-146.0,635.6,-7.4,274,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1580,3375,0,0,0,0,0,0
$GC,6906,-1.20,-146.0,653.3,-7.2,280,6911,0.00,2.50,0.00,0.000,4,0.000,0.081,3126,166,3375,0,0,0,0,0,0
$GC,6959,-1.20,-146.0,658.0,-9.1,281,6963,0.00,2.33,0.00,0.000,6,0.000,0.035,3126,1589,3374,0,0,0,0,0,0
$GC,7236,-1.20,-146.0,680.1,-8.0,288,7241,0.00,2.62,0.00,0.000,4,0.000,0.051,3126,3154,3373,0,0,0,0,0,0
$GC,7267,-1.20,-146.0,682.5,-8.2,288,7271,0.00,2.67,0.00,0.000,6,0.000,0.048,3126,1576,3373,0,0,0,0,0,0
$GC,7523,-1.20,-146.0,703.1,-8.1,295,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1577,3371,0,0,0,0,0,0
$GC,7772,-1.20,-146.0,722.3,-7.8,301,7776,0.00,2.50,0.00,0.000,4,0.000,0.082,3126,166,3370,0,0,0,0,0,0
$GC,7807,-1.20,-146.0,725.6,-9.0,301,7811,0.00,2.33,0.00,0.000,6,0.000,0.035,3126,1589,3369,0,0,0,0,0,0
$GC,8057,-1.20,-146.0,744.9,-7.6,307,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1589,3368,0,0,0,0,0,0
$GC,8302,-1.20,-146.0,764.0,-7.8,313,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3367,0,0,0,0,0,0
$GC,8544,-1.20,-146.0,783.9,-8.2,319,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1589,3366,0,0,0,0,0,0
$GC,8790,-1.20,-146.0,804.7,-8.5,325,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1589,3365,0,0,0,0,0,0
$GC,9035,-1.20,-146.0,825.3,-8.4,331,9040,0.00,2.50,0.00,0.000,4,0.000,0.075,3126,168,3365,0,0,0,0,0,0
$GC,9059,-1.20,-146.0,827.8,-9.1,331,9063,0.00,2.33,0.00,0.000,6,0.000,0.035,3126,1590,3364,0,0,0,0,0,0
$GC,9324,-1.20,-146.0,847.4,-7.2,338,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3364,0,0,0,0,0,0
$GC,9566,-1.20,-146.0,864.6,-7.0,344,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3363,0,0,0,0,0,0
$GC,9810,-1.20,-146.0,881.6,-7.0,350,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3362,0,0,0,0,0,0
$GC,10056,-1.20,-146.0,898.2,-6.8,356,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3361,0,0,0,0,0,0
$STATE,10091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10092,begin apogee
$GC,10100,-0.31,0.0,901.1,6.9,357,10223,0.82,0.00,119.75,1.155,6,0.068,0.000,3318,1344,2800,0,0,0,0,0,0
$STATE,10224,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10226,1.27,146.0,904.9,0.0,360,10366,1.42,2.17,130.75,1.134,4,0.034,0.078,3666,179,2203,0,0,0,0,0,0
$GC,10418,1.02,146.0,893.8,14.2,364,10422,0.28,1.95,0.00,0.000,6,0.110,0.031,3610,1351,2200,0,0,0,0,0,0
$GC,10691,0.97,161.4,867.8,9.3,371,10707,0.00,0.00,14.07,1.004,6,0.000,0.000,3610,1351,2143,0,0,0,0,0,0
$GC,10931,0.91,161.4,843.5,10.1,377,10932,0.12,0.00,0.00,0.000,6,0.116,0.000,3584,1352,2138,0,0,0,0,0,0
$GC,11174,0.92,172.2,820.4,9.5,383,11187,0.00,0.00,10.95,0.960,6,0.000,0.000,3585,1352,2097,0,0,0,0,0,0
$GC,11419,0.94,185.7,797.4,9.4,389,11440,0.00,2.20,13.62,0.983,4,0.000,0.072,3584,170,2042,0,0,0,0,0,0
$GC,11450,0.96,201.9,794.1,9.3,389,11471,0.00,1.98,16.77,0.994,6,0.000,0.031,3584,1359,1976,0,0,0,0,0,0
$GC,11753,0.96,202.4,764.2,10.0,397,11757,0.00,2.67,0.00,0.000,4,0.000,0.052,3584,2929,1972,0,0,0,0,0,0
$GC,11772,0.98,216.6,761.9,9.3,397,11794,0.00,2.70,14.80,0.976,6,0.000,0.048,3584,1358,1916,0,0,0,0,0,0
$GC,12038,0.98,216.6,735.2,10.2,404,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1358,1913,0,0,0,0,0,0
$GC,12282,0.98,216.6,708.9,10.9,410,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1358,1913,0,0,0,0,0,0
$GC,12529,0.98,216.6,682.6,10.6,416,12534,0.00,2.62,0.00,0.000,4,0.000,0.043,3584,2928,1911,0,0,0,0,0,0
$GC,12549,0.99,221.8,680.2,9.8,416,12561,0.00,2.70,5.65,0.759,6,0.000,0.049,3584,1350,1894,0,0,0,0,0,0
$GC,12816,0.99,224.9,653.5,9.9,423,12828,0.00,2.67,4.62,0.683,4,0.000,0.044,3584,2928,1882,0,0,0,0,0,0
$GC,12840,1.04,226.2,651.3,9.9,423,12847,0.12,2.72,0.00,0.000,6,0.067,0.049,3630,1354,1881,0,0,0,0,0,0
$GC,13107,0.98,226.2,619.9,11.8,430,13111,0.15,2.12,0.00,0.000,4,0.111,0.082,3599,160,1881,0,0,0,0,0,0
$GC,13176,0.98,226.2,611.8,11.5,431,13180,0.00,1.95,0.00,0.000,6,0.000,0.030,3599,1355,1880,0,0,0,0,0,0
$GC,13449,0.98,226.2,583.7,10.2,438,13453,0.00,2.62,0.00,0.000,4,0.000,0.050,3599,2926,1881,0,0,0,0,0,0
$GC,13496,1.06,226.2,578.7,10.0,439,13500,0.00,2.67,0.00,0.000,6,0.000,0.048,3599,1351,1878,0,0,0,0,0,0
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$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,0.9,1.018072
$STATE,18613,end surface coast,CONTROL_FINISHED_OK
$STATE,18613,begin surface
$SM_CCo,18638,41.40,0.426,0,0,1210,390.03
$SM_GC,1.66,0.00,0.00,41.40,0.000,0.000,0.426,413,1666,1210,-13.67,2.71,390.03
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$TT8_MAMPS,0.027612
$HUMID,66.38
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,9
$24V_AH,23.2,47.628
$10V_AH,9.9,45.198
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.775,172.375,408.025,41.400,0.000,25.446,34.150,233.784,2.250,0.000,19.810,1484.134,13923.625,528.519,2428.577,762.496,33.371,1535.829,0.000,2431.158,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.913,359.600,457.882,955.147,1256.080,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,54067,691
$CAP_FILE_SIZE,170011,0
$CFSIZE,260165632,147759104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010813,073556,2317.615,-15742.200,37,2.3,56,10.2